version: 66.04
glider: 113
mission: 4
dive: 277
start: 11 7 108 5 11 52
data:
$ID,113
$MISSION,4
$DIVE,277
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51576
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27042.109
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2436
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.7
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,280
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2420
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00135
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.705193
$PRESSURE_SLOPE,0.0001160825
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004371644
$SEABIRD_T_H,0.00064727472
$SEABIRD_T_I,2.6231954e-05
$SEABIRD_T_J,2.8174416e-06
$SEABIRD_C_G,-9.9426794
$SEABIRD_C_H,1.1390046
$SEABIRD_C_I,-0.00057758979
$SEABIRD_C_J,0.00012778315
$GPS1,050508,6704.637,-5656.634,32,1.2,32,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-59.8
$GPS2,051057,6704.624,-5656.759,13,1.2,13,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.197,-0.107
$KALMAN_X,-13517.3,624.1,215.4,32855.1,-2595.0
$KALMAN_Y,-59985.7,397.5,-571.3,78216.0,1420.9
$MHEAD_RNG_PITCHd_Wd,156.0,7004,-12.9,-7.021
$D_GRID,514
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,132,0.00,0.00,-114.03,0.000,2,0.000,0.000,165,2350,2952
$GC,135,-1.08,-146.0,3.5,-3.5,20,155,8.55,2.30,-2.12,0.000,4,0.254,0.066,2196,934,3018
$GC,409,-0.66,-146.0,49.0,-12.0,68,416,0.35,2.22,0.00,0.000,6,0.168,0.047,2292,2348,3020
$GC,753,-0.66,-146.0,73.3,-7.1,129,759,0.00,2.22,0.00,0.000,4,0.000,0.051,2293,935,3019
$GC,799,-0.66,-146.0,76.8,-7.9,137,805,0.00,2.20,0.00,0.000,6,0.000,0.047,2293,2343,3020
$GC,1156,-0.71,-146.0,103.3,-7.3,195,1159,0.00,2.22,0.00,0.000,4,0.000,0.051,2292,932,3019
$GC,1167,-0.76,-146.0,104.1,-7.0,195,1171,0.10,2.20,0.00,0.000,6,0.107,0.045,2258,2340,3019
$GC,1487,-0.76,-146.0,128.5,-7.5,211,1491,0.00,2.25,0.00,0.000,4,0.000,0.061,2257,3741,3019
$GC,1498,-0.76,-146.0,129.5,-7.7,211,1502,0.00,2.15,0.00,0.000,6,0.000,0.036,2257,2328,3019
$GC,1818,-0.76,-146.0,153.5,-7.5,227,1822,0.00,2.30,0.00,0.000,4,0.000,0.063,2257,3739,3018
$GC,1864,-0.76,-146.0,157.0,-7.5,229,1868,0.00,2.15,0.00,0.000,6,0.000,0.038,2257,2328,3017
$GC,2196,-0.76,-146.0,181.4,-7.3,245,2200,0.00,2.30,0.00,0.000,4,0.000,0.063,2257,3742,3017
$GC,2229,-0.82,-146.0,184.0,-7.7,246,2233,0.00,2.15,0.00,0.000,6,0.000,0.037,2257,2336,3016
$GC,2551,-0.82,-146.0,206.4,-6.6,262,2554,0.00,2.30,0.00,0.000,4,0.000,0.061,2257,3750,3016
$GC,2601,-0.89,-146.0,210.0,-6.7,264,2605,0.00,2.15,0.00,0.000,6,0.000,0.036,2257,2340,3016
$GC,2928,-0.93,-146.0,230.3,-5.9,280,2932,0.10,2.28,0.00,0.000,4,0.096,0.061,2218,3742,3017
$GC,2973,-0.87,-146.0,233.4,-7.1,282,2978,0.12,2.15,0.00,0.000,6,0.154,0.036,2251,2330,3017
$GC,3305,-0.87,-146.0,253.7,-6.2,298,3309,0.00,2.30,0.00,0.000,4,0.000,0.062,2251,3743,3017
$GC,3328,-0.92,-146.0,255.1,-5.8,299,3332,0.00,2.15,0.00,0.000,6,0.000,0.036,2251,2330,3017
$GC,3661,-0.92,-146.0,275.4,-6.2,315,3665,0.00,2.30,0.00,0.000,4,0.000,0.061,2251,3743,3018
$GC,3678,-0.98,-146.0,276.5,-6.4,315,3685,0.12,2.15,0.00,0.000,6,0.094,0.035,2205,2331,3018
$GC,3996,-0.87,-146.0,299.9,-7.4,331,4000,0.15,2.30,0.00,0.000,4,0.149,0.060,2248,3740,3019
$GC,4064,-0.94,-146.0,304.5,-6.3,334,4068,0.00,2.15,0.00,0.000,6,0.000,0.036,2247,2327,3019
$GC,4397,-0.94,-146.0,323.3,-5.6,350,4400,0.00,2.30,0.00,0.000,4,0.000,0.060,2247,3743,3020
$GC,4425,-1.00,-146.0,324.8,-5.6,351,4429,0.12,2.15,0.00,0.000,6,0.100,0.036,2203,2331,3020
$GC,4752,-0.89,-146.0,346.9,-6.9,367,4756,0.15,2.30,0.00,0.000,4,0.145,0.059,2245,3742,3020
$GC,4813,-0.97,-146.0,350.8,-6.2,369,4819,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2329,3020
$GC,5129,-1.01,-146.0,369.0,-5.9,385,5134,0.12,2.30,0.00,0.000,4,0.094,0.058,2198,3745,3021
$GC,5146,-1.01,-146.0,370.1,-6.0,386,5150,0.00,2.15,0.00,0.000,6,0.000,0.035,2198,2327,3021
$GC,5479,-0.90,-146.0,394.2,-7.3,402,5484,0.15,2.33,0.00,0.000,4,0.153,0.058,2240,3754,3021
$GC,5489,-0.82,-146.0,395.1,-7.2,402,5496,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2334,3021
$GC,5822,-0.82,-146.0,414.6,-5.8,413,5826,0.00,2.30,0.00,0.000,4,0.000,0.060,2240,3747,3022
$GC,5872,-0.89,-146.0,417.7,-5.9,414,5876,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2333,3022
$GC,6197,-0.89,-146.0,436.0,-5.6,422,6201,0.00,2.30,0.00,0.000,4,0.000,0.061,2240,3748,3022
$GC,6225,-0.95,-146.0,437.7,-6.4,422,6229,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2331,3022
$GC,6567,-0.95,-146.0,456.5,-5.5,431,6571,0.00,2.30,0.00,0.000,4,0.000,0.060,2240,3745,3022
$GC,6595,-1.01,-146.0,458.3,-6.5,431,6600,0.10,2.15,0.00,0.000,6,0.096,0.035,2203,2328,3023
$GC,6938,-0.92,-146.0,482.1,-6.9,440,6942,0.12,2.30,0.00,0.000,4,0.147,0.060,2239,3748,3023
$GC,7005,-0.99,-146.0,486.5,-6.3,441,7009,0.00,2.15,0.00,0.000,6,0.000,0.035,2238,2332,3023
$GC,7354,-1.04,-146.0,506.6,-5.8,450,7359,0.12,2.30,0.00,0.000,4,0.094,0.058,2191,3748,3023
$GC,7444,-0.95,-146.0,513.4,-8.0,452,7448,0.15,2.15,0.00,0.000,6,0.142,0.035,2232,2330,3023
$STATE,7451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7452,begin apogee
$GC,7458,-0.34,0.0,514.3,7.5,452,7589,0.38,0.00,127.47,1.131,6,0.135,0.000,2355,2523,2420
$STATE,7589,end apogee,CONTROL_FINISHED_OK
$STATE,7590,begin climb
$GC,7592,1.08,146.0,516.7,0.0,455,7730,1.05,0.00,131.20,1.064,6,0.105,0.000,2668,2523,1823
$GC,8055,0.94,146.0,480.9,8.4,467,8059,0.12,2.22,0.00,0.000,4,0.145,0.048,2634,1125,1821
$GC,8110,0.95,148.1,476.9,6.9,468,8114,0.00,2.22,0.00,0.000,6,0.000,0.044,2634,2537,1821
$GC,8429,0.95,151.6,454.6,6.9,476,8439,0.00,2.22,5.72,0.832,4,0.000,0.059,2634,3939,1802
$GC,8507,0.83,151.6,448.2,8.8,477,8513,0.00,2.17,0.00,0.000,6,0.000,0.036,2634,2515,1802
$GC,8838,0.83,151.6,425.0,7.3,486,8842,0.00,2.15,0.00,0.000,4,0.000,0.048,2634,1122,1801
$GC,8899,0.83,151.6,420.4,7.2,487,8903,0.00,2.17,0.00,0.000,6,0.000,0.044,2634,2522,1801
$GC,9212,0.83,151.6,397.8,7.2,495,9216,0.00,2.25,0.00,0.000,4,0.000,0.061,2634,3934,1800
$GC,9284,0.72,151.6,391.7,8.9,498,9289,0.17,2.15,0.00,0.000,6,0.136,0.036,2583,2517,1800
$GC,9611,1.07,178.2,374.2,6.1,514,9642,0.22,2.28,22.95,1.035,4,0.065,0.046,2679,1111,1693
$GC,9799,0.98,178.2,359.4,8.5,522,9804,0.12,2.22,0.00,0.000,6,0.135,0.044,2642,2535,1692
$GC,10119,0.98,178.2,336.4,7.3,538,10123,0.00,2.22,0.00,0.000,4,0.000,0.059,2642,3937,1691
$GC,10175,0.88,178.2,331.5,9.2,540,10179,0.00,2.17,0.00,0.000,6,0.000,0.036,2642,2508,1691
$GC,10496,0.88,178.2,305.9,7.8,556,10500,0.00,2.15,0.00,0.000,4,0.000,0.048,2642,1118,1691
$GC,10563,0.93,178.2,300.5,8.3,559,10567,0.00,2.17,0.00,0.000,6,0.000,0.044,2642,2520,1691
$GC,10896,0.93,178.2,274.2,8.0,575,10900,0.00,2.25,0.00,0.000,4,0.000,0.059,2642,3940,1691
$GC,10951,0.83,178.2,269.0,9.8,577,10955,0.10,2.15,0.00,0.000,6,0.154,0.036,2614,2519,1691
$GC,11272,0.96,195.0,247.5,6.4,593,11294,0.12,2.20,14.85,0.938,4,0.076,0.048,2666,1119,1625
$GC,11340,0.96,195.0,241.8,9.2,596,11344,0.00,2.20,0.00,0.000,6,0.000,0.043,2666,2529,1624
$GC,11672,0.96,195.0,212.6,8.8,612,11676,0.00,2.22,0.00,0.000,4,0.000,0.061,2666,3930,1624
$GC,11734,0.82,195.0,206.4,10.2,614,11741,0.20,2.15,0.00,0.000,6,0.133,0.036,2606,2519,1623
$GC,12050,1.03,229.5,187.2,5.8,630,12085,0.17,2.25,28.30,0.939,4,0.065,0.048,2679,1123,1484
$GC,12147,1.03,229.5,178.8,8.6,634,12151,0.00,2.20,0.00,0.000,6,0.000,0.044,2680,2520,1483
$GC,12468,1.03,229.5,149.5,8.9,650,12471,0.00,2.25,0.00,0.000,4,0.000,0.060,2680,3934,1482
$GC,12529,0.90,229.5,143.3,10.3,652,12536,0.17,2.17,0.00,0.000,6,0.133,0.036,2627,2506,1482
$GC,12845,1.27,229.5,123.1,7.0,668,12850,0.22,2.30,0.00,0.000,4,0.065,0.059,2721,3927,1483
$GC,13052,1.05,229.5,100.4,11.8,677,13056,0.20,2.15,0.00,0.000,6,0.130,0.037,2661,2512,1482
$GC,13394,1.15,236.0,76.9,6.8,737,13408,0.10,2.17,6.95,0.772,4,0.086,0.048,2706,1112,1457
$GC,13476,1.15,236.0,69.9,8.8,751,13483,0.00,2.20,0.00,0.000,6,0.000,0.044,2705,2527,1457
$GC,13821,1.15,241.4,44.4,6.8,812,13834,0.00,2.28,5.82,0.735,4,0.000,0.061,2706,3922,1436
$GC,13874,1.10,241.4,40.0,8.4,821,13881,0.12,2.15,0.00,0.000,6,0.137,0.037,2669,2513,1436
$GC,14219,1.26,241.4,19.4,7.3,882,14226,0.15,2.17,0.00,0.000,4,0.074,0.050,2731,1122,1435
$GC,14294,1.26,241.4,12.6,9.5,895,14301,0.10,2.20,0.00,0.000,6,0.139,0.047,2705,2528,1435
$STATE,14479,end climb,SURFACE_DEPTH_REACHED
$STATE,14479,begin surface coast
$FINISH,0.8,1.025864
$STATE,14531,end surface coast,CONTROL_FINISHED_OK
$STATE,14531,begin surface
$SM_CCo,14608,0.00,0.000,0,0,1431,242.11
$SM_GC,1.66,7.00,0.00,0.00,0.065,0.000,0.000,158,2335,1431,-10.39,-0.14,242.11
$RAFOS_CLK,742
$RAFOS,4,1226047451,8.750000,8.736389,65,60,57,56,53,51,157,210,190,136,120,199
$RAFOS,3,1226046846,8.583333,8.568334,59,57,55,51,49,47,178,194,211,1906,121,144
$RAFOS,2,1226046258,8.416667,8.405000,66,60,58,58,56,53,192,203,150,560,137,123
$RAFOS,1,1226045644,8.250000,8.234445,62,59,57,56,55,54,198,168,213,155,121,142
$RAFOS,0,1226045061,8.083333,8.072500,60,58,58,57,56,55,213,201,181,162,150,223
$RAFOS_FIX,6614.548340,-6018.893066,061108,161628,4,88,86.14
$IRIDIUM_FIX,6641.98,-5656.94,010298,000047
$TT8_MAMPS,0.027612
$HUMID,1870
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.20
$XPDR_PINGS,2
$24V_AH,21.5,52.859
$10V_AH,10.6,22.889
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.300,160.025,343.275,0.000,0.000,30.103,38.457,152.424,0.500,0.000,0.000,15.236,1753.193,10325.185,526.815,1874.419,475.062,33.375,1535.317,0.000,1840.137,1800.000,0.529,0.000
$DEVICE_MAMPS,253.877,65.962,1131.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.852,634.484,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34693,937
$CAP_FILE_SIZE,134928,0
$CFSIZE,260165632,230420480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.4
$GPS,071108,091702,6704.388,-5656.869,57,1.8,57,-37.6